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EPSON RC700/RC90 Firmware Version 7.5.5.4

Copyright (c) 2012 - 2025, SEIKO EPSON CORP. All rights reserved.
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IMPORTANT ANNOUNCMENT
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Ver.7.5.5.3 -> Ver.7.5.5.4
Fixed a problem in RC+7.0 where multiple error popups would appear when performing the following operations:
- Connecting to the controller in monitor mode while running a program that uses a Tool, Local, Arch, or Arm number reserved in the library.
- Restart the controller after executing the EncReset statement.

Ver.7.5.5.2 -> Ver.7.5.5.3
Fixed a problem in which module variables were not initialized when a function was started, even if " Clear globals when function started " was enabled in the Controller preferences.

Ver.7.5.4.101 -> Ver.7.5.5.2
Added support for Library Builder.
Added support for Diagnostics.
Protective stop for GX4-A/B, GX8-A/B was optimized more.
Added the constant "MB_DEFBUTTON3" to the MsgBox command type to make the third button the default.
Fixed a problem that allowed commands to be executed while conveyor tracking. (Modify commandFCalplsAECPAECPSetAMCalAMotorAPowerASfree/SlockATCATLSetAVRTAWaitPosALocalClr)
Fixed a problem that a different error would occur during the singularity-avoiding after changing the coordinate system with the Base command.
Fixed a problem that prevented the hopper tab from being displayed in the calibration & test screen.
Fixed a problem where the error message "Unknown Error!!" was displayed when error 3615 occurred.
Fixed a problem when Jump motion in conveyor tracking accuracy-priority mode, the Z-axis may not immediately down even if it follows the workpiece.
Fixed a problem where additional axes did not work properly in modes other than standard mode.
Fixed a problem that expected parameters cannot be displayed on RC+ when command [TCLim] used.
Fixed a problem in robot maintenance where the remaining months for the robot battery were always 9999.
Fixed a problem in which an error would occur and the task would stop if the RC+ was disconnected from a controller that was executing a task.
Fixed a problem in which Sw(0) was displayed in the setting display when no event condition expression was set for the Till, Sense, or Find command.
Fixed a problem where the object number of a vision sequence created with the VCreateSequence command was incorrect.
Fixed a problem that fails happened when you build a RC+6.0 project by RC+8.0 after built by RC+7.0 at once.
Fixed a problem where the Fieldbus Slave Modbus TCP was not enabled.

Ver.7.5.4.100 -> Ver.7.5.4.101
For Safety function, the range of Soft Axis Limiting is enlarged.

Ver.7.5.4.55 -> Ver.7.5.4.100
For PartFeeding option, New hopper (Gen.2) is supported.
Fixed a bug for PartFeeding option that could rarely cause error 2910 (Timeout reading from an Ethernet port) in long-time use.
Fixed a bug in remote I/O that caused an error bit stands when Home input is stand during Running.
Fixed a problem that caused error 7040 (The point label is not correct) when restoring a backup data (which contains Japanese point labels) of before firmware version 7.5.4.23 to a controller with firmware version 7.5.4.50 or later.
Fixed bugs for FSet command: Build success unexpectly when using Reset property with two arguments. Error 2264 (Command argument is out of the available range) occurs when setting FG_RESET_FINE with four arguments.

Ver.7.5.4.53 -> Ver.7.5.4.55
Fixed a bug of Pause, Till and Safe-Door Open which occurs over the limit of motion range, for GX4/GX8 series.

Ver.7.5.4.50 -> Ver.7.5.4.53
Supported ROT modifier parameter for Move, Arc, Arc3, Jump3CP commands in conveyor tracking.
Fixed a bug of conveyor tracking where the position error occurs when running Go or Jump commands consecutively in the upstream direction of the conveyor.
Fixed a bug of conveyor tracking where the acceleration error can occur when finishing tracking motion.
Fixed an issue where stopping took a long time under certain conditions.
Fixed a problem that occurred when using a teach pendant under certain conditions.

Ver.7.5.4.24 -> Ver.7.5.4.50
Improved the display and input specifications for Simplified Chinese.

Ver.7.5.4.23 -> Ver.7.5.4.24
Improved internal processing.

Ver.7.5.4.17 -> Ver.7.5.4.23
Added an error if a Reset operation is performed immediately after the robot enters an emergency stop state, that will be issued to notify you to perform a Reset operation after confirming safety.

Ver.7.5.4.16 -> Ver.7.5.4.17
Change the joint #6 max motion range from }360 to }540 for C4B, C8B and C12B series.

Ver.7.5.4.14 -> Ver.7.5.4.16
Added support for C4-B,C8-B,C12-B series.
Added support for LS10-BxxxC-FZ, GX8-BxxxP-FZ.

Ver.7.5.4.12 -> Ver.7.5.4.14
Fixed a problem that SLS 0mm/s was passed from safety board to controller when SLS 1mm/s was set on safety board.
Fixed a problem that PTP motion performed even though CP motion condition in step jog of 6-axis robot.
Fixed a problem that fine value reverts to default when Till condition is met.
Fixed a problem that attitude rotation does not occur when a small angle is input in MOVE motion.
Fixed the problem that conveyor tracking does not work depending on the weight setting and operating point in boost mode of GX4 series.
Fixed the problem that restriction of manipulator operation by joint angle combination of C4,C8 series was wrong.
Fixed the problem local number cannot be registered even if local setting is performed in point edit mode in TP2.
Changed the confirmation operation after entering a numerical value to one press of the OK key in TP2.
Fixed the problem that conveyor speed calculation of the variable speed conveyor mode is not done properly after the second conveyor in multiple conveyors system.
Fixed a bug that 4252 error may occur when the robot's hand position is within the movement range when performing the Move command continuously with conveyor tracking.
Fixed a problem that sometimes a Vision Communication error when building with RC+
Fixed a problem that TP3 does not switch to Teach mode when there is a specific project file in the controller.

Ver.7.5.4.10 -> Ver.7.5.4.12
Fixed the problem that the speed of SF_PeakSpeedS and SF_RealSpeedS could not be displayed or obtained accurately.
Added support for GX10-B and GX20-B series.
Fixed the problem which could delete internal setting files unintentionally.

Ver.7.5.4.9 -> Ver.7.5.4.10
In order to deal with the problem of not being able to connect via USB, added a function to reset the hardware if the RC+ is not connected for 120 seconds when the controller is restarted with a USB connection.

Ver.7.5.3.2 -> Ver.7.5.4.9
Weight,inertia,eccentricity/offset measurement utility is added.
GX4-B series and GX8-B series robots are supported.
Added Cnv_AccelLim command that sets limit of acceleration and deceleration after the conveyor tracked.
Added support for Safety Functions for the RC700-E controllers.
Added OPC UA option to USB license.
Supported point of Curve/CVMove command was extended to 1000 both open/closed curve.
Changed so that an error occurs when Home signal is input when Motor is Off in remote IO.
Added Error 5034.
Fixed the problem which could delete internal setting files unintentionally.
Fixed the problem that the movement angle of J4 is not the minimized by gorientation Flagh No.2 of LJM function for N2.
Fixed the problem that the movement angle of J4 is not the minimized by gorientation Flagh No.3 of LJM function for N2.
Fixed the problem that the movement angle of J4 is not the minimized by gorientation Flagh No.8 of LJM function for N2.
Fixed the problem that the movement angle of J6 is not the minimized by gorientation Flagh No.4 of LJM function for N6.
Fixed the problem that pass motion disable with Jump3CP command.
Fixed the problem that the controller freezes when entering a specific posture in the 3D tool settings of the tool wizard.
Fixed the problem related to the setting speed when using T2 mode.
Fixed the problem that caused the trajectory to be disturbed when pausing and resuming during pass motion.
Fixed the problem that Dist_Axes property is displayed in Rot_Axes property if Force Motion Restriction object is set to FList statement and execute.
Fixed the problem that the 6-axis robot sometimes went out of the operating range when ArmSet was used.
Fixed the problem that the motor does not turn off even if the enable switch is released while the motor is on in TP's Teach mode.
Fixed the problem that occur 4242 error when using Conveyor Tracking with consecutive Go Cnv_QueGet movements and tool change between them.
Fixed the problem that the movement was not always as indicated in a step jog operation when setting the tool in the z-direction on a SCARA.
Fixed the problem that the 9723 error was falsely reported after the controller was started while the DU was connected.
Fixed the problem that freezes when Till condition and Cont are executed at the same time during Pause.
Fixed the problem that caused the arch trajectory to be disturbed when the safety gate was opened and resumed while the Jump movement was rising.

Ver.7.5.3.1 -> Ver.7.5.3.2
Fixed the problem which could delete internal setting files unintentionally.

Ver.7.5.3.0 -> Ver.7.5.3.1
Added support for C12 series UL specification.

Ver.7.5.2.7 -> Ver.7.5.3.0
Added area distortion correction function.
Added OPC UA Nodes to get the values of SPEL+ variables.
Added OPC UA Nodes to get Force Sensor data (output of RecordStart property).
Added command to correct the tracking delay for changes in conveyor speed for variable speed conveyor mode.
Added a timeout function for ModBus TCP that automatically disconnects connection when the controller does not send and receive data after the port is connected.
Changed the minimum damper value when using force control with C8 from 0.5 to 0.1.
Supported Path motion during conveyor tracking.
Fixed the problem that the movement angle of J4 is not the minimized by gorientation Flagh No.1 of LJM function.
Fixed the problem that the movement angle of J6 is not the minimized by gorientation Flagh No.4 of LJM function.
Fixed the problem that a robot goes to wrong point when the special condition of gTillh has formed.
Fixed the problem that no stop during the singularity-avoiding when gTillh condition is satisfied.
Fixed the problem that the error code 4102 was displayed as gUnknown Errorh.
Fixed a bug that error code 4242 (Improper acceleration reference was generated.) occurs in PTP motion of LS10-B80x.
Fixed a bug that error 4037 occurred and it could not be continued when it was paused and then restarted during the arch motion of Jump3 and JumpTLZ.
About OPC UA, Fixed the problem with nodes where NameSpaceIndex of BrowseName and NameSpaceIndex of NodeId do not match.
About OPC UA, Fixed the problem that SourceTimeStamp does not update.
Fixed a problem that the robot goes to wrong position after a CP motion to the wrist singularity point in 6-axis robots (including N series).
Fixed the problem that when the global variable UShort is used in the conditional expression of the Wait command, the condition may not be satisfied and the wait may be infinite.
Fixed the problem that the result of the operation expression using UInt32 variable is not correct.
Fixed not to issue Warning 400/401/402 when robot maintenance data is enabled.
Fixed the probrem that TCP/IP related commands such as OpenNet are not executed for 5 seconds after being disconnected from the client device in TCP/IP.
Fixed the probrem that event 0 is recorded in the system history when using Backup Controller Function with the USB memory.
Fixed the problem that the robot does not stop even if the jog button is released when jogging near a singular point with the 6-axis robot.

Ver.7.5.2.6 -> Ver.7.5.2.7
Fixed the problem that error 4252 occurs in 6-axis robot's CP movement. (Move, Arc3 etc.)

Ver.7.5.2.5 -> Ver.7.5.2.6
Fixed a bug that error 2200 occurs when pausing at the timing of pass motion, opening and closing the safety door, and then continuing execution.

Ver.7.5.2.2 -> Ver.7.5.2.5
Improved internal processing.

Ver.7.5.2.1 -> Ver.7.5.2.2
The SetNet command is fixed to specify the time until a socket is closed by the CloseNet command.
Fixed the problem that the movement angle of J4 of J6-axis robot is not the minimized in CP movement (Move , Arc3 etc.).

Ver.7.5.1.8 -> Ver.7.5.2.1
Added all SKU of GX4/8 series.
Added function that always monitors XYLim range check.
 Note:
 Even if the target point of the motion command is within range, if motion paths from start point to target point is the out of range an error occur. Also, Pulse motion is checked.
Added XYLimMode that sets monitor method of XYLim.
Added XYLimMode function that returns monitor method of XYLim.
Fixed the problem that the J6 axis turn 360 degrees without error during CP motion.
Fixed the problem that added previous Z value to the adjusted Z value when adjust conveyor tracking Z value.
Fixed the problem that error 9610 / error 4210 occurs when virtual I/O settings are disabled.
Fixed the problem that caused error 2434 when Spanish was specified in the errmsg $ function.
Fixed the problem that the ON / OFF command does not work properly when the ON / OFF command is specified asynchronously on the virtual controller.
Fixed the problem that error 2244 / error 2243 occurs when And values such as Int64, UInt64 variables and Integer variables are And.
Fixed a bug that caused invalid data to be returned when calling a DLL function using a byte array. 
Fixed a bug that caused Error1007 to occur when performing a firmware update in recovery mode.  
In the Dll function call (Declare), the error is displayed when the return value of Declare is a string. 
Fixed a bug where partsFeeder PF_Robot run despite detection part 0.  
Extended remote IO commands 554, 555, 556, 557 have been modified to create point data at the coordinates of the specified pallet number.  
Extended remote IO command 558 PALLET command can be returned to obtain the number of points.
Extended remote IO command 1203, 1204 have been modified to save coordinates at a new point.
Fixed a problem for CodeReader. If commag,h is included in text result, the character string after the comma could not be obtained with VGet.
Fixed a problem that robot moves abnormal path when execute Pause/Cont while combined the Jump3 and next motion using CP On.
Fixed a problem that robot moves abnormal path if combined the Jump3 and next motion using CP On. This problem occurs if the point flags of the destination point of the Jump3 and the current point after the Jump3 motion are different. 
[RC700]
Fixed the problem that data just before the end of recording is not saved if recording with Force Monitor, FGRun, RecordStart and FCMStart.
Fixed the problem that cannot execute FGRun again if stopped by Trap during executing FGRun.
Fixed the problem that some constants defined in Force Guide caused an error at runtime.
Fixed the problem that calculation of PeakForces does not stop, but calculation of AvgForces stops if False was specified for PeakForceClear property of Force Monitor object.
Fixed the problem that FMR object cannot be specified by FMR(#), FMR(Label) or FMR((Var)) in FDef, FDel and FLabel$ function.

Ver.7.5.1.4 -> Ver.7.5.1.8
[RC700]
GX8 series ceiling and wall mounting type robots are supported.
OPC UA (OPC UA for Robotics Part1) is newly supported.
Fixed the problem that stop the robot after the end of the motion command when the stop signal of the remote I/O is input just before starting the motion command. This problem also occurred when stop the SPEL task by "Quit All".

Ver.7.5.1.3 -> Ver.7.5.1.4
[RC700]
In C8-A701S/P/C/R/W, the phenomenon that the offset processing of the Gyro control signal of J3 does not work occurs. (CP path misalignment, poor stability, collision error, torque error, etc.)
This bug corrected the value of nAxis_Switch03 in InitFileSrc.txt because there was an error in the setting of Gyro information in the initial setting file. (C8-A701 only)

Ver.7.5.1.2 -> Ver.7.5.1.3
[RC90]
On LS6B-602S-V1 models, vibration occurs when the Z-axis is motioned with the eccentric tool facing the inside of the robot. 
The cause is that the Z-axis Gyro servo becomes unstable. The maximum value of the J3 (Z) Gyro servo parameter has been reduced.

Ver.7.5.1.0 -> 7.5.1.2
[RC90]
LS3-B401S-V1 robot is supported.
[RC700]
GX4 series and GX8 series robots are supported.
Modified the problem that controller batterys consumption and remaining months does not update on some RC700 and RC90 controller.

Ver.7.5.0.9 -> 7.5.1.0
Support following four system Force Guide sequences.
EPaste sequence
EScrewTighten sequence
EHeightInspect sequence
EInsert sequence
Support six system Force Guide objects which are automatically placed in above four system Force Guide sequences.
Support Force Motion Restriction object for changing executions based on position or orientation of robot. Set it by FSet FMR# and it can be specified by statement of Till, Wait, Trap and Find.
Add TillStopMode property of Force Trigger object. It can change stop method when trigger conditions are met when Force Trigger is used for Till. By setting FG_SORT_STOP, overshoot of contact force can be reduced compared to FG_STANDARD_STOP and contact speed can be faster.
Add function which returns amount of rotation around an arbitrary axis to DiffToolOrientation function.
Add FCEapsedTime function which returns the time elapsed since the force control function was activated.
Add DiffPoint function which returns difference between two specified points.
Add ROTOK function which returns whether an ROT modifier parameter can be added when move the robot with Move and other linear interpolation motion command. However, it cannot determine whether the robot joint speed and joint acceleration limits have been exceeded during motion (error 4242, etc.).
Function block for CODESYS is newly supported.
Added the arm length calibration function. (Only GX series)
Gyro Servo Plus has been applied to C4-A701 / C8-A701 / C8-A901.And, the control parameters for C4-A901 / C8-A1401 have been changed.
Added joint accuracy function
In real-time I/O, the number of latches after the LatchEnable is supported up to 4 times.
Added low vibration mode to LS-10B
SPEL_Reset AOI is newly supported.
A weight corrected acceleration / deceleration value has been added to the kind of the values that can be obtained by executing gAccelsh. 
SFree can be used during both Motor is On/Off.
When arm length calibration is enabled (ArmCalib ON), the parameter set in ArmCalibSet is set to Arm 0 and automatically switches to Arm 0. If the Arm number is set to a value other than 0, the parameters specified by ArmSet will be set,
 so even if arm length calibration is enabled, it will not operate accurately. When arm length calibration is disabled (ArmCalib OFF), Arm 0 returns to the design value, but the Arm number does not automatically return.
If user execute Calib, Hofs command, joinaccuracy parameters reset to 0. By using HofsJointAccuracy command, user can change Hofs parameters with jointaccuracy parameters not changed.
Fixed a bug that MsgBox command could not be executed from RC + API and command window.
Fixed the problem that in TCP/IP communication, the connection may not be disconnected or unexpected error may be occurred on the application even if the program is terminated or the connection is terminated by the CloseNet command.
Fixed the problem that an invalid overload rating can be obtained by gOLRateh.
Fixed the problem that the continuous spline path motion is broken by executing gCurveh and/or gCVMoveh.
Fixed the problem that the positioning is greatly deviated in the conveyor tracking accuracy priority mode.
Fixed the problem that extended remote IO 1450 (Reset) cannot be executed when an error occurred.
Fixed the problem that Project Synchronize, Backup Controller, and Import Project to fail after build a large project.
[RC700]
Fixed a problem which error occurs despite the waiting time if sensor error occurs more than once when FG_RESET_WAIT_VIBRATION is set to FS#.Reset property and execute during using Force Trigger object. Force sensor can be reset automatically if it can be resettable despite the waiting time if sensor error occurs.
Fixed a problem which doesnft reset force sensor to 0 instantly when execute FS#.Reset property during applying a low-pass filter to Force Trigger object or Force Monitor object.
Fixed a problem which doesnft stop error in SPEL program if error occurs in SPELFunc object during executing Force Guide sequence.

Ver.7.5.0.5 -> 7.5.0.9
Fixed a problem which could cause incorrect program execution if certain conditions are met
Fixed a problem that robot takes some additional time to stop its motion if emergency button is pressed.

Ver.7.5.0.4 -> 7.5.0.5
[RC90]
LS6-B602S-V1 robot is supported.

Ver.7.5.0.3 -> 7.5.0.4
Fixed the problem that in the remote I/O control extended function, when Point editing command (1215-1222) or Current position information command (2150) is executed for a C8 series or C12 series robot, Function error (ExtError) occurs.

Ver.7.5.0.2 -> 7.5.0.3
Fixed a false detection problem of battery error that occurs on the resolver board.

Support CC-Link version 2.0.
PartFeeding:@ New feeders (IF-80 and IF-380) is newly supported. The multi-part function and the purge function is added. New commands (PF_AccessFeeder, PF_ReleaseFeeder) is added to support multiple robots.
Fixed a bug that in the virtual controller that no error occurred even if an invalid IP address was specified with the setnet command.
Fixed a bug that 2053 error remains in the system history when the project is synchronized.
Fixed the problem that the display of TP1 remains "Running" when the move command (Go) to the same position is executed on TP1.
Fixed the problem that the task Fend processing may be delayed when the VRUN command is executed.
[RC700]
Fixed the problem that the acceleration and deceleration for the Continuous Path robot motion is abnormal in C8 and C12*.

Ver.7.4.8.2 -> 7.4.8.3
Fixed the problem that an error 4242 occurs in LS10-B80*.

Ver.7.4.7.2 -> 7.4.8.2
Added support for controller connection password.
Modified to occur error 4043 then executing "slock" and "sfree" with 6-axis robot (includes N Series).
Modified the problem that error 9622 or/and 9633 occurred when turning the motor power on for some joint by using the PG Motion System.
Modified the problem the robot would move abnormally when the "STOP" button of the EPSON RC+ 7.0 after the User Error occurs during the safeguard position recovery operation.
Modified the problem when starting jog operation with continuous jog operation during jog operation from TP, if the enable switch is released at the same time as pressing the jog key, the robot moves for about 3 seconds.
Modified the problem when the "GlobalPreserves.dat" file created by Backup controller is read by Load button of the variable monitor, the value is not displayed correctly.
Modified the problem if you use the Trap Error event and execute the Errb function when an error occurs, the robot number where the error occurred cannot be obtained and will be g0h.
Modified the problem when continuously on the TP1 screen without a wait instruction.
Modified the problem when if an error occurred when connecting PartFeeder, the connection could not be established afterwards.
Modified the problem when caused a 7100 error when a bus number other than 16 was specified with the FbusIO_GetBusStatus, FbusIO_GetDeviceStatus, and FbusIO_SendMsg commands.
[RC700]
Modified the problem when FGRun did not finish if force was applied to the sensor while FGRun was running.
Modified the problem when FGRun was performed during force control, it was paused, and when restarted, a 2010 error was corrected.
Modified the problem when error occurs when PointFile is specified to something other than the default on the forced guide screen.

Ver.7.4.7.1 -> 7.4.7.2
Support for Epson Robot Management System.
Fixed the problem that failed to restart controller when using Modbus.
[RC700] Fixed the problem that occurs 5041 error in models of C4-A901* and C8-A1401*. The error occurs 
when turning the motor power on after updating from Ver.7.4.1.2 or/and earlier to Ver.7.4.6.6 or/and 
later.
[R90] Fixed the problem that some operations are slow in LS10-B80 *.

Ver.7.4.7.0 -> 7.4.7.1
Nothing.

Ver.7.4.6.9 -> 7.4.7.0
Fixed a problem that the J6 axis rotates and stops in the simulator.
Fixed a problem that VRT_Trigger cannot be used with X5 robots.

Ver.7.4.6.8 -> 7.4.6.9
Fixed the problem that current position cannot be taught on the point edit screen of TP2.
Fixed the problem that after moving to the point edit screen, current position cannot be taught on the jog & teach screen of TP2
[RC90] Fixed the problem that some value of the eccentric quantity of load (weight of the end effector and work piece) within the range described in the manual cannot be set in LS10-B60**. (This problem can be fixed by setting the robot model again.)
[RC90] Fixed the problem that the prohibited area at the backside of the robot where error 4041 occurs is not appropriate in LS20-804*, LS10-B60*C, LS10-B703C, LS20-B804* and LS20-BA04C. (This problem can be fixed by setting the robot model again.)

Ver.7.4.6.7 -> 7.4.6.8
Nothing.

Ver.7.4.6.6 -> 7.4.6.7
Nothing.

Ver.7.4.5.5 -> 7.4.6.6
C12-A1401 series robots are supported.
[RC700] Direct Teach feature and Touch Jog feature are supported in C8, N2 and N6 series.
F1 help can distinguish keywords with the same name (ex:P#, Trap, Enabled, ..).
When command "Here" was executed in the robot motion, an automatic return of the error was able to be 
done and lost.
Fixed the problem that when the error occurred while the singular point was operating, the trouble that a 
virtual controller occasionally freezed was corrected.
Fixed the problem that local coordinate is not reflected in function "LJM".
Fixed "Maintenance" display failure of "Controller Status Viewer".
[RC700] Fixed the problem that command "J1Agle" might not function by N6-A85 *.
[RC700] Fixed the problem that error 9692 may occur when RC700-A(Serial number: R7 ** 03 **** or later), RC700DU-A, 
and TP3 are combined.
[RC90] Fixed the problem that continuous Jog might not operate when the J3 shaft is -1pulse.

Ver.7.4.5.4 -> Ver.7.4.5.5
Fixed the problem that unable to recognize the conveyor connection.
Fixed the problem that the vision configuration can not be restored when Vision hardware configuration is enabled on Restore Controller.

Ver.7.4.4.2 -> Ver.7.4.5.4
[RC700] The Function is added that minimum values and maximum values of 6-axis force are got at the same time with "PeakForces status" of "Force Monitor object".
[RC700] The Function is added that maximum wait time and threshold can be specified to "Reset property" of "Force Sensor object". Maximum wait time and threshold can be specified when "FG_RESET_WAIT_VIBRATION" is specified.
[RC90] LS20-B series robots are supported.
Fixed the problem that the disconnection could not be detected from the connection destination when using remote Ethernet.
  ETX-BT equipped controller only.
  - The serial number of RC700-A is R7 ** 03 ****
  - The serial number of RC90 is R9V303****, R9V603****, R9V201**** Or later
  - RC90-B is all
Fixed the problem that when the continuance execution is done with Jump3 using Arch, error 4037 is caused by mistake.

Ver.7.4.3.1 -> Ver.7.4.4.2
Improved the operability of TP2.
[RC90] LS3-B series robots are supported.
[RC700] Direct Teach feature and Touch Jog feature is supported in TP2.
[RC700] Fixed the problem that LPF_TimeConstant property of the force monitor object does not work correctly. 

Ver.7.4.2.1 -> Ver.7.4.3.1
Added support for distance tracking function.
[RC90] LS6-B series robots are supported.
The error message of error 4279 was added.
Fixed the problem that when t path motion and Jump3 are used, the position of the robot might be different from the target position.
Fixed the problem that J3 axis of SCARA robot might rise more than 0pulse when Till is used in Conveyer Tracking.

Ver.7.4.1.2 -> Ver.7.4.2.1
[RC90]LS10-B series robots are supported.
Fixed bug 9727 error.

Ver.7.4.0.2 -> Ver.7.4.1.2
I/O operation of EUROMAP67 Option board are available with TP1.
I/O operation of EUROMAP67 Option board are available with TP2.
[RC700]N6 series N6-A850* robots are supported.
[RC700]Changed the FS#.Reset property of Force Guide. The conventional Reset property waits the constant time before force sensor reset. The changed Reset property waits the stop of the robot vibration before force sensor reset. By this change, there is the case that execution time is shorter than before this change.
       But when execute Reset property immediately after a motion statement, there is the case that execution time is longer than before this change. Also added the mode that waits the stop of external vibration.
Fixed a problem that the robot might operate when opening the safeguard while continuing to execute the CONT command in the loop.
Fixed a problem that the consumption rate becomes 0% when maintenance information is displayed on RC+ after detection of drop of AC power supply.
Fixed a problem that error 3174 does not occur even if there are duplicate labels in Select or IF statement.
Fixed the problem for E-STOP. When pushing the E-STOP at the timing of switching between acceleration and deceleration, there was a case it suddenly stopped.
Fixed the problem that Error 4242 might occur when Tool is changed in the conveyer tracking.
Fixed the problem that tracks the robot might shift when Tool is used and the singular point is passed.

Ver.7.3.4.5 -> Ver.7.4.0.2
The EUROMAP67 Option board is supported.
[RC700]Added new Force Guidance feature.
Fixed a problem that error 7200 ( Invalid argument.) occurred when RS-232C (PC) was set with Simulated port with virtual controller.
Fixed a problem where the robot may operate unexpectedly when point data whose coordinates are undefined are used for the motion command. For point data that defines only labels, error 2532 occurs and the robot does not work.

Ver.7.3.4.3 -> Ver.7.3.4.5
Nothing.

Ver.7.3.3.4 -> Ver.7.3.4.3
N6 series N6-A1000* robots are supported.
Command to set and acquire simulator object is supported.
[RC700]Force sensor SH250LH is supported.
Fixed a problem that the return value becomes "True" until Mode Selector Key switch of TP with TeachOn function.
Fixed a problem that when Plane wizard is used, the data of Tool coordinates is not reflected in the parameter of Plane.
Fixed a problem that Error5044 and 5045 cannot be reset.
[RC700]Fixed a problem that the default force file was not loaded at program start.
[RC700]Fixed a problem that when N2 Series is used, error 4250 is miss-detected at specific posture and a specific speed.
[RC700]Fixed a problem that when N2 Series is used, error 4066 might be miss-detected after AbortMotion is executed.
[RC700]Fixed a problem that error 2857 occurred when registering sensor with force board with robot setting only for drive unit.
[RC700]Fixed a problem that the negative value can be inputted to execution time of FCKeep statement.

Ver.7.3.2.3 -> Ver.7.3.3.4
HealthRBWarningEnable statement and HealthRBWarningEnable function are supported.
HealthCtrlWarningEnable statement and HealthCtrlWarningEnable function are supported.
[RC700]Display priority to seven-segment LED changed.
  EmergencyStop  >  SafetyDoor  >  Error  >  Warning
[RC700]Error 4094 is caused when the J1 shaft is outside the motion area in N series and RS series
Fixed a problem that the program was not executed even if Start was executed from RemoteIO immediately after startup.
Fixed a problem that Vision system constants: VISION_CODETYPE_DATAMATRIX (=1) and VISION_IMAGESIZE_3664X2748 (=9) were undefined.
Fixed the problem that the error occurs when you execute the Backup Controller after the user model name of the PG robot is changed, and execute the Restore Controller.
[RC700]When the enable switch is off during singularity avoid motion, robot stops quickly.
[RC700]Fixed a problem that when RS series robot connects a PTP motion and a CP motion, at the same time J1Flag changed and singularity avoid motion was occurred, robot would a wrong movement.
[RC700]Fixed a problem that the controller hangs when 10 or more force triggers are set as the conditions of Till, Find, Sense, Wait, Trap.
[RC700]Fixed a problem that the force trigger did not stop even if you changed or cleared the TRAP condition that set the force trigger.
[RC700]Fixed a problem that no error was not notified even if the force trigger was set to the TRAP condition while the force sensor was in error.
[RC700]Fixed a problem that the approach coordinates become positions that are lower than target coordinates by 
JumpTLZ.

Ver.7.3.2.2 -> Ver.7.3.2.3
When the firmware version does the upgrade specifying "Initialize" from the controller before Ver.7.3.2.2, the IP address being set by the controller is cleared.
Please take notes of the IP address before the upgrade, and set it again after the upgrade. 
When "Upgrade" is specified, the IP address is preserved.

When the firmware version does the upgrade from the controller before Ver.7.3.2.2, the Time zone being set by the controller is cleared.
The Time zone can set the time of PC by connecting it with RC+.

[RC700]The Force Sensor I/F Board are supported.

Ver.7.3.1.2 -> Ver.7.3.2.2
Added to the PDescription commands and function.
Added 64-bit of the Val function (Val64 function).
Fixed a problem that UDP communication cannot communicate with multiple devices on the same port number.
Fixed a problem that ChDir command become Error2365.
Fixed a problem that grease warning with SCARA robot.
Fixed a problem the robot rise more than specified values when Cnv_AbortTrack is executed with the multi robot conveyer tracking system.
[RC700]Force Control Monitor function support.
[RC700]Improved Joint continuous Jog speed for J1 and J2 joint of 6-axis robot.
[RC700]In X5, the problem that the commanded speed exceeded the error threshold with SPEED 100% was corrected.
[RC700]Fixed a problem that displays a specific point at the wrong time.
[RC700]Fixed a problem that delay the print command in the TP3.
[RC700]Fixed a problem the position of the robot might shift when the robot does CP Motion at a specific position.
[RC700]Fixed a problem that the backup including YZ module robot cannot be restored.
[RC700]Fixed a problem that seven-segment LED displays [-  -] and [ -- ] repeatedly even if restoring is completed when restoring the backup from TP3.

Ver.7.3.1.1 -> Ver.7.3.1.2
Fix the problem that the algorithm of the grease up of SCARA robots (including RS series) was corrected.

Ver.7.3.0.4 -> Ver.7.3.1.1
HealthCalcPeriod statement and HealthCalcPeriod function are supported.
Analog I/O option board are supported.
The period calculating "remaining months" of robot maintenance information is changed from 1day to 7days.
Fixed a problem that where 10001 error occurred when TCP port was set consecutively.
Fixed a problem that in error checking out of range in Palette setting.
Fixed a problem that 99 error returns when Execute command for Remote Ethernet is executed after Speed Factor is changed.
Fixed a problem that 99 error returns when Execute command for Remote RS232 is executed after Speed Factor is changed.

Ver.7.3.0.3 -> Ver.7.3.0.4
Fixed a problem of oscillation when EZ module (X5S series) loads 0 kg.

Ver.7.3.0.1 -> Ver.7.3.0.3
Nothing.

Ver.7.2.1.13 -> Ver.7.3.0.1
The greatest data length of the following commands was changed to 1024 bytes by the TCPIP Communication.
  Print #, Input #, WriteBin array(), ReadBin array()
Force control monitor are supported. 
  The force control monitor is offered with another installer.
Fixed a problem that the native function in Dynamic Link Libraries (DLLs) is not called in BG task.
Fixed a problem that 1041 error sometimes occurs when the operation mode changes Test to Teach if EStopOn is true. 
Command 2052 of the remote control function.
  Fixed a problem that point file is not saved.
ModBusTCP 
  Fixed a problem that Transfer ID is not set.
Fixed the problem that the vision capture screen is a blackout doing that the Function call is executed after the command of VRun execution when the trigger camera is connected with CV, and it becomes impossible to process any more.
Fixed a problem that The task is to remain in wait in the GGet command. 
Fixed a problem that is that the controller battery warning occurs after robot setting.
Fixed a problem that when quantity of movement uses CP_Offset in extremely short movement, 4009 error occurs.
Fixed a problem that when CP motion and PTP motion are going to connect with CP On option and paused in the deceleration timing of the front side movement, a continue command is not accepted and deadlocked.

[RC700]EZ MODULES X5 series robots are supported. (RC700-A, RC700DU-A)
[RC700]Fixed a problem that when a high acceleration is set in a Jump3 Span motion and Move motion, error could be occurred due to a wrong Singularity Avoid processing.
[RC700]Fixed a problem that 5811 error occurs when the preset value of the Impedance Tester of TP2 is used for C8 series.  
[RC700]Fixed a problem that When G6 series carry out movement in a state of Low Power Mode, 5041 error may occur.
[RC700]Fixed a problem that When the tool and arm of the setting is not zero, it can not be used to "Picture on the fly".


Ver.7.2.1.12 -> Ver.7.2.1.13
[RC700]Fixed a problem that error 4242, 4216, 9002, 1502 and Servo Alarm D will occur in rare case of the span motion of Jump3 due to a wrong singularity avoid processing.


Ver.7.2.1.9 -> Ver.7.2.1.12
Fixed the problem that the vision capture screen is a blackout doing that the Function call is executed after the command of VRun execution when the trigger camera is connected with CV, and it becomes impossible to process any more.
[RC700]C4 series C4-A901S-UL/C4-A901C-UL/C4-A901SR-UL/C4-A901CR-UL robots are supported.


Ver.7.2.1.2 -> Ver.7.2.1.9
Remote control function. Fix the problem that the point file cannot be preserved.
Fixed the problem that Error 9724 rarely occurs though control board has not failed.
[RC700]Fix the problem that the Error 4242(Improper acceleration reference was generated.) occurs after the N2 Series moves to the opposite direction when continuous Jog is done on the terms and conditions stated below.
       * When J1, J2 or the J3 shaft is located in the vicinity of +/- 180 angles.
[RC700]Fix the problem that when the angle of the J1 shaft is a position of 180 angles or -180 angles in N2 Series, J1Angle does not function.


Ver.7.2.0.12 -> Ver.7.2.1.2
Change CollisonDetect default value. Default value become OFF to ON. When firmware upgrade case, keep previous default value.
Fixed the problem that NoEmgAbort task cannot execute multi-task program verification TEST mode with TP1.
Fixed the problem that native functions in Dynamic Link Libraries (DLLs) is not called, when operation mode is Auto.
Fixed the problem that the backup data including the DU connection robot cannot be restored in dry run.
Fixed the problem that when SafeGuard is opened and RC+ is disconnected and re-connected in  motor ON, robot manager is displayed status of motor is ON. Then, even if SafeGuard is closed and the motor is turned off, status of motor cannot be change to OFF.
Fixed the problem that 2354 error (Cannot execute the I/O output command when the Enable Switch is OFF) occurs if it switches to the Teach mode in TP while outputting I/O by the background task.
Fixed the problem that in Vision property RobotPlacePos and RobotPlaceTargetPos, 2023 error (Stack failure. Unexpected tag found on the stack) occurs if VGet was executed specifying the point type in the form of P( ) with parentheses.
Fixed the problem that the program that does the file operation with TP3 with it disconnects PC, and 2473 error (Windows Communication Error. Busy.) is caused. Afterwards, when it connects with PC, and the same program is executed, the file operation is not done.
Fixed the problem when the addition axis is used, 4104 error might be miss-detected.
Fixed the problem that cannot access the file if the program (including AOpen etc) starts after RC+ connected to the controller while connecting TP3 in Auto mode.
[RC700]Fixed the problem that high-pitched noise is generated from the motor in the Joint #2 of G20 series. It does not affect the performance of the robot.
[RC700]Fixed the problem that when CP operates by the C4 series, 4001 error might be miss-detected.
[RC700]Fixed problem that a part of singular configuration cannot be passed by RS Series and 6 axis.


Ver.7.2.0.10 -> Ver.7.2.0.12
Fixed the problem that the program is not stopped when RC+7.0 connects to the controller while executing the background task in independent mode.
Fixed the problem that TP3 becomes a response waiting, if "Plane 1, 0, 0, 0, 0, 0 0" is executed from the command window of TP3.
Fixed the problem that Tool setting might not be able to be set when 3DTool calibration wizard was used.


Ver.7.2.0.9 -> Ver.7.2.0.10
[RC700]N2 series N2-A450* robots are supported.
[RC700]DU and the serial connection of the force sensor I/F unit supported what was not supported.
       - When one force sensor is used, the DU connection enables the connections up to two.
       - When two force sensors are used, the DU connection enables the connections up to one.
[RC700]Fixed the problem that Expiration Date of C8 or N2 is 1.5 years from Installation Date if robot maintenance is unchecked on Controller Preferenceds.
[RC700]Fixed the problem that the trajectory of motion command with force control is wrong. This problem happens after the Till condition is satisfied in while the previous force control command with CF and Till.


Ver.7.2.0.7 -> Ver.7.2.0.9
The motors were not turned off, even if the mode was changed from TEST mode with TP1.
[RC700]The motors were not turned off, even if the mode was changed from TEST mode with TP3.
[RC700]The concurrent connection of DU and Force sensor I/F unit is not supported.
Fix the problem that function name information breaks when String type is declared as a return value of the function, and 60 characters or more are set as a return value.
Fixed the problem that error 2230 occurs if MT is set when the controller is upgraded to firmware version 7.2.0.7.
Fix the problem that it becomes impossible for I/O to control after that when the I/O output command is 
executed in the Teach mode.
Fix the problem that "LimitTorqueLP" command getting value becomes smaller than setting value in some robot axis.
Fix the problem that the consumption rate of "HEALTH_ROBOT_TYPE_BATTERY" in SCARA type is not right.
Fix the problem that the value of "HealthRBDistance" and "HealthRBSpeed" are not right
[RC700]Fix the problem that the controller does not return the error when the project build is executed after the command that does not exist in PRG file or INC file in TP3 is input. (RC700-A)
[RC700]Fixed the problem that the reaction is late even if the <Exe> key is pushed when the motion command is executed in TP3. (RC700-A)


Ver.7.1.8.8 -> Ver.7.2.0.7
Supported robot and controller parts Maintenance information. 
Collision Detect function support all SCARA robot and 6 AXIS robot.
Additionally, to reduce more damage in collision, limiting torque function, LimitTorqueLP, LimitTorqueStop, LimitTorqueStopLP are supported.
Supported VSD command that is the variable speed drive CP motion for SCARA robot's CP motion.
Supported CP_Offset statement which can improve constant velocity in the CP On motions.  
[RC700]Added support for Force Guide 7.0.
Improved the operability of TP1 [Robot] Screen.
Improved the operability of TP2 [I/O Command] Screen.(Activate the UP / Down key)
Improved the operability of TP2 [Guide] Screen.(Activate the UP / Down key)
Robot with a PG additional axis can execute Go and Move motion before MCal execution. 
Box statement is supported with local coordinate system.
Power Low is supported in Quick Pause status, and then it can be continuing in low power mode. 
The following functions were added to remote I/O input ForcePowerLow.
 Reverse polarity for ForcePowerLow remote input
 Tasks are stopped or paused when ForcePowerLow signal is changed
[RC700]Make it harder for error occurring while singularity motion in high speed. 
[RC700]AvoidSingularity statement is supported for RS series robots.
When increasing the 3rd arm of SCARA robot, putting a heavy load and doing CP movement, the upper limit value of accels to prevent a shaft bending was written clearly in each manipulator manual. When I try to make them move by the setting which exceeds that big, an error occurs.
When use the function that appointed character string in a return value, The character string of the return value assumes 64byte a limit.
[RC700]The concurrent connection of DU and Force sensor I/F unit is not supported.
Fix the problem when EnableSW is turned off after starting button push down of a Test mode of TP1
(Multi-task program verification), continuation can't be carried out.
Fix the problem when changing it to a Teach mode from a Test mode of TP1, a background task doesn't start.
Fix the problem in rare cases, stuck in [robot] screen of TP2.
Fix the problem when operating on the [I/O Command] screen of TP2, in rare cases a blank is indicated.
Fixed the remote I/O label, which is displayed on the [I/O Command] screen of TP2.(FrocePLow -> ForcePLow)
Fixed the problem that robot's reverse position limitation is evaluated in Base coordinates system but Robot coordinate system in CP motion.
Fixed the problem that PG motion system cannot set joint velocity over 655340pls/sec.
Fix the problem when 6 AXIS robot and SCARA robot (over 10kg payload) stopped by error in low speed, robot arm was going down over few mm.
[RC700]Fixed the problem that in low power mode, Quick pause may not be quickly but not over the destination while 6-axis robot is executing CP motion.


Ver.7.1.8.5 -> Ver.7.1.8.8
Drop amount of end effector when E-STOP is pushed, is reduced.  
* Drop amount of end effector when E-STOP is pushed while the robot is stationary motor ON state, is fixed to be the same as the drop amount when motor OFF is run while the robot is stationary motor ON state.
Fixed the problem that after Home command, it is not possible to turn on AtHome signal in some case.


Ver.7.1.8.3 -> Ver.7.1.8.5
Fixed the problem that even if the Pallet setting is done as a virtual controller at cooperative mode setting,Pallet is not displayed in the simulator.
Fixed the problem that the state of Power might be displayed with High at motor ON.
The state of Power might be displayed with High at motor ON when RC+ is ended once after Power High is executed in the state of motor OFF, and the reconnection is done.
Fixed the problem that it is possible to execute it without becoming an error if functions other than the main function are specified by TEST mode when not connected with RC+ by cooperative mode setting.
[RC700]Acceleration and deceleration of C8-701P,C8-701PR,C8-901P,C8-901PR were changed.
[RC700]Fixed the problem that when 6-axis moves near in just +180 or -180 degrees of J1, J4 position, J1 or J4 moves opposite angle that is 360 degrees rotated.
[RC700]Fixed the problem that with Additional axis option, when TGo or BGo relative move command omits the pose date, it interprets current pose to relative move reference.
[RC700]Fixed the problem when LJM used for 2 point that different J1 over 180 degrees, error 4007 "Coordinates conversion error." occurs in C4 robot not supported J1Flag.


Ver.7.1.8.2 -> Ver.7.1.8.3
[RC700] Fixed the problem that "5042 Position error overflow in high power state. Check the power cable connection, the robot, the driver and the motor." or "5044 Speed error overflow in high power state.
        Check the power cable connection, robot, brake, driver, or motor." error might occur when G1 series robot moves at high acceleration even if weight or inertia setting is correct.


Ver.7.1.8.1 -> Ver.7.1.8.2

[RC700]Fixed the problem that the data of 6-Axis robot is not normally converted when the firmware is upgraded or the backup is restored in RC700/RC700-A.
This problem occurs according to the following procedures.
- If RC700/RC700-A controller is upgraded to the firmware Ver.7.1.6.x or later when the RC700/RC700-A controller (firmware Ver.7.1.4.x or earlier installed) is set for C4 robot for Ceiling mounting, X and Z axes of the robot coordinate reverses the positive and negative signs.
- If the backup that obtained from the controller (firmware Ver.7.1.7.x or earlier installed) is restored to the RC700/RC700-A (firmware Ver.7.1.6.x or later), it causes a phenomenon the same as the above.
* If the robot moves as they are in the above statuses, they will move to the direction that is opposite from the intended and will be at risk for collision, etc.
* Do not use firmware Ver.7.1.6.5 or Ver.7.1.8.1 if you are using the C4 robot for Ceiling mounting on RC700/RC700-A controller (firmware Ver.7.1.4.x or earlier installed).
* Initialize to firmware Ver.7.1.8.2 and reconfigure the robot if RC700/RC700-A controller (firmware Ver.7.1.4.x or earlier installed) was upgraded to firmware Ver.7.1.6.5 or Ver.7.1.8.1.


Ver.7.1.6.5 -> Ver.7.1.8.1

[RC700]C8 series C8-A701* robots are supported. (RC700-A, RC700DU-A)
[RC700]C8-A701* is added to the Collision Detection function..(RC700-A, RC700DU-A)
[RC90]LS20 series LS20-804S/LS20-804C/LS20-A04S/LS20-A04C robots are supported.
[RC90]LS20-804*/LS20-A04* are added to the Collision Detection function.
When the controller error occurred while executing the program, the value of the variable was able to be displayed even in the state to do the error stop.
Fixed the problem that the Val function cannot convert "&HFFFFFFFF" into "-1" and it becomes error 2373( Illegal string specified for the Val function.).
Fixed the problem that even if the condition consists by Trap Finish, the function is not executed.
Fixed the problem when the project that does not use the backup variable is done in the build as a virtual controller, it takes time to the build end.
Fixed the problem that error 7714 ( File not found. ) occurs if "/" ( slash character ) is used to specify the route of passing by the ImportPoints command.
Fixed the problem that Till command was able to be used with Do and Loop statement.
Fixed the problem that the error state does not turn on when error 1504/1505/1506 occur.
Fixed the problem that the controller's response worsens when the console is Remote Ethernet, if an application that two connections exist or more is closed.
Fixed the problem that error 4051 (Curve failure. Local attribute and the point attribute of all specified points do not match.) occurs if the point that uses the LJM function and the point that did not use LJM are used when the Curve command is executed.


Ver.7.1.4.4 -> Ver.7.1.6.5

Added a feature to align a specific coordinate's axis in Align Function.
Supported point data calculations as +/-RX, +/-RY, +/-RZ.
Added a feature to return an angle differentiation of two tools coordinate's axis from two point data.
[RC700]Collision Detection is new function. This support C8-A901*, C8-A1401* now. Command is "CollisionDetect". 
[RC700]C8 series C8-A901*/ C8-A1401* robots are supported. (RC700-A, RC700DU-A)
[RC90]LS6 series LS6-502S/LS6-502C/LS6-702S/LS6-702C robots are supported.
It is improved that the braking distance when the E-STOP, to be shorter than before the firmware ver.7.1.4.4.
[RC700]Improve singularity avoid feature in low power state.
Fixed a problem when the calibration name is changed by the program using VisionGuide, the calibration that is a sequence number different from specification might be changed. 
Fixed a problem that 1031 error ( Cannot execute while tasks are executing.) occurs at the following program execution or the program build though it ends normally if the Vision camera is registered, and the program only of the Print sentence is executed.
Fixed a problem when the Text property of the character string including the comma is acquired with GUI Builder, only the data ahead of the comma can be acquired.
Fixed a problem that 2365 error ( File failure. Failed to update the configuration file. ) might occur while programming it if SetCOM is executed.
Fixed a problem when the controller firmware (Ver.7.1.0.6 former) with the project that the Vision camera registration is done is upgraded to the firmware since Ver.7.1.2.7,
 warning 550(Communication with the Compact Vision is disconnected.) is generated. The camera used in the Vision sequence is monitored by the Vision status monitoring function.
Fixed a problem when 3D Local coordinates with V,W value, in specific case U rotate value to be too large.
Fixed a problem when executing move command, unintended rotation of the J6 axis occurs by specific movement pattern.
Fixed a problem, when using PV1, and if it is using ImageOp vision object, vision sequence running will not be used ImageOp result image.
Fixed a problem, when using RC+API for VGetRobotToolXYU, it may return wrong XYU values.
Fixed a problem, when using RC+API for VSet with RobotPos property does not work.
[RC90]Fix the problem when the maximum of Fine sets the value that is bigger than 65535 in the LS series, an error (No.4002) does not occur.


Ver.7.1.4.3 -> Ver.7.1.4.4

[RC700]Fixed a problem MAC address reading from the RC+ is always "00-00-48-4F-A0-02".


Ver.7.1.2.7 -> Ver.7.1.4.3

ExportPoints statement is supported.
Picking quantity-priority mode is supported in Circular Conveyor Tracking.
PauseOn is supported by the wait statement.
In the teaching using TP or the teaching using the Jog&Teach screen of the robot manager of RC+, the function that effective invalidity of LJM was able to be set when the operation instruction was executed was added.
SingularityDist statement, SingularityDist function are supported.
Control Unit (RC700-A) and Drive Unit (RC700DU-A) are supported.
[RC700]6-axis robot can avoid shoulder singularity point.
[RC700]Support "AvoidSingularity SING_AUTO" mode that can automatically select "SING_THRU" or "SING_VSD" of AvoidSingularity statement.
[RC700]G(G1,G3,G6,G10 and G20) series robots are supported. (RC700-A, RC700DU-A)
[RC700]RS(RS3 and RS4) series robots are supported. (RC700-A, RC700DU-A)
It is improved that the braking distance until the robot is stopped, is reduced, when error occurs during the robot operation.
It is changed that the robot will be deceleration stop in the same way as E-STOP, in the case of AC power failure during the robot operation.
[RC700]Approach and depart motion of Jump3 and Jump3CP can avoid the singularity Point.
[RC700]A continuous jog speed of the C4/C4L was changed to be faster than conventional.
Fixed a problem that the alarm cannot be reset from remote I/O at Auto mode.
Fixed a problem that the alarm cannot be reset from remote I/O while program is running.
Fixed the problem that error 7027 (Cannot read the point data from the point file.) occurred if only double quotation mark was defined as a Description of a Robot point, and the project was built.
Fixed the problem which was not able to use point labels when executing Local or Plane command in command window.
Fixed the problem which the overflow error might generate by the operation of the UInt32 type variable.
Fix the problem that when the robot performs only conveyor tracking operation continuously in Circular Conveyor, the robot's amount of position gaps accumulates.
Fixed the problem that the robot works even if other jogs or you operate it when jogging near the singularity and warning appears.
Fixed a problem that the robot might retract and stop when a collision occurred.
[RC700]Fix the problem that the display of U and W coordinates changes a lot when the 6-axis robot moves with an sideways posture (V=+/-90) of Tool 0.
[RC700]Fixed the problem that a robot cannot pass two times of singular points in one movement.
[RC700]Fixed the problem when a movement origin and a terminal are located in the wrist specific posture neighborhood, a robot is not done by singular point evasion.
[RC700]Fixed the problem when a robot carries out Move movement from 0 pulse positions, the robot cannot do singular point evasion.
[RC700]Fixed the problem in a derivation order of the Move movement including TMove, BMove, ROT, a robot cannot do singular point evasion.
[RC90]Fixed a problem that the backup including the robot for DU can be restored to RC90.


Ver.7.1.0.6 -> Ver.7.1.2.7

The compact vision status monitoring function is supported.
Added a search function for adding new camera to the system.
Fix the problem that speed factor of RC+ will be 25% after performing the test mode of TP1.
Fix the problem when JogMode change (Local->Joint) of a 6 axis robot , an unnecessary character "<-->:" is displayed on TP1.
Fix the problem that error 2023 (Stack failure. Unexpected tag found on the stack.) occurs if LJM parameter was applied to the JUMP action to the queue by the conveyer tracking.
Fix the problem when motor on is done while motor off is operating by having opened the safeguard, the robot might do the self-respect fall.
Motoring on the demand motoring off operating becomes an error, and is not accepted by this correction.
Fix the problem that the error does not occur when the upper limit of Box is smaller than a lower limit.
Fix the problem that error 7505 (Undefined vision sequence) or error 7325 (Vision communication. Connection is not completed.) occurs if start/stop of the program is repeatedly executed. 
Fix the problem that it is displayed though the status of Power is as PowerHigh in the status of PowerLow when RC+API is shut after the error occurs while executing the program with RC+API and MotorOn is done from the robot manager of RC+.
Fix the problem that error 7322 (Vision communication. Read timeout.) occurs if start/stop of the program is repeatedly executed.
Fix the problem that when C4 robot avoid wrist singularity, J5 trajectory is continuous but not differential.


Ver.7.0.14.3 -> Ver.7.1.0.6

Fieldbus slave EtherCAT is supported.
ModBusRTU and ModBusTCP were supported with the field bus slave.
Adding the ability for users to set the output conditions in remote output I / O.
The measurement of the load factor of CPU is supported.
Parallel execution by multiple command threads are supported with RC+API.
The WorkQueue management function is supported.
The Alarm function is supported.
The communication with the real COM port and the real ETHERNET port is supported in a virtual controller.
The UDP communication is supported.
Variables Int64 and UInt64 are supported.
TrapError to the function with argument is supported.
Warning 599 will occur in continuous jog near singularity point.
IODEF function is supported.
GShowDialog statement is supported.
FMTSTR statement is supported.
FineDist statement,FineDist function,FineStatus function  and RealAccel function are supported.
Cnv_Flag function is supported.
Tracking Abort Line function is supported in the conveyor tracking option.
I/O labels with 32 character max length is supported.
Vision Guide 7.0 ver7.1 is supported.
Added 3 events (E-Stop, Safeguard, Robot Setting) in system history.
[RC700]The monitor function of R-I/O is supported.
[RC700]Up to 3 external robot drive units are supported.
Added "AvoidSingularity SING_VSD" which adjusts velocity when a CP motion command passes through a near singularity point.
Operating speed of TP1 is improved.
Even when plc of CC-Link is not connected, robot can be operated.
Fix the problem that remote I/O label of TP1 is not correctly displayed .
Fix the problem the jog & teach screen of TP1 is different from RC+. (joint robot or cartesian robot )
Fix the problem when you change a current robot , local number is overwrited.
Fix the problem when changing the language of TP1 ,it is restart.
Fix the problem that RC hangs up when you execute the restore with the simulator displayed.
Undefined bits of index 1 and 3 of the CtrlInfo function get the mask done by "0", Because undefined bits might become "1".
Fix the problem that the error(7900:"Fieldbus is not installed.") occurs when real controller's backup data is restored to a virtual controller.
Fix the problem that Error 2012 occurs if the SyncRobots command is executed by the robot number.
Fix the problem when the object disk for file operations is specified "RAM" for a virtual controller, the file is not recognized.
Fix the problem that it fails if the import of the project is executed from the backup file to  back up the project including "(double quotation) and '(single quotation) to the value of the global variable by "Backup Controller".
Fix the problem When the pallet is specified by three points, it is likely not to be able to display in the simulator.
Fix the problem that the robot works in the impact was corrected by using the data of a G sensor on the way of the data update to control.
When the robot setting was a single screw module, trouble that the detection timing of the realtime input signal varies was corrected.
Fix the problem that RC+ hangs up if controller error occurs during Tool Wizard.


Ver.7.0.14.2 -> Ver.7.0.14.3

[RC700]Fixed a problem when executing move command, unintended rotation of the J6 axis occurs by specific movement pattern. And 5046(Overspeed in high power state) errors occur.


Ver.7.0.14.0 -> Ver.7.0.14.2

"Current feedback data failure."(error 5028) was mis-detected at the same time as "Motor torque output failure"(error 5040/5041) when the robot collided with peripherals, and trouble that had to reactivate the controller for the error return was corrected.
Fix the problem that Remote I/O can change the setting to a small size the I/O size of fieldbus I/O.
It was corrected when the bit to which remote I/O was set did not exist (The fieldbus board and extended I/O board of the correspondence were detached. It switched from virtual I/O mode to real I/O.) when the controller started, it became serious error 9006(Initialization failure. Failed to initialize the Remote I/O).
[RC700]Fix the problem that tool orientation rotation direction is wrong in some particular conditions of 6 axis CP motion.


Ver.7.0.12.1 -> Ver.7.0.14.0

Fix the problem that the override processing cannot be executed.
Fix the problem that the comparison of UINT32 is wrong.
Fix the problem that the unsigned type variable becomes a minus display.
Fix the problem that the range check of the operation result of UINT32 is wrong.
Fix the problem that the motor of the override processing does not stop.
Fix the problem that when the robot is performing conveyor tracking operation, if Spel program is built, the robot moves.
Fix the problem that when the robot performs only conveyor tracking operation continuously, the robot's amount of position gaps accumulates.
The error detection condition of current control is added.
[RC700]The speed error threshold value in the high power mode of C4 series was changed. 
[RC90]The speed error threshold value in the high power mode of LS3 series was changed.
[RC90]The speed error threshold value in the high power mode of LS6 series was changed. 


Ver.7.0.6.1 -> Ver.7.0.12.1

When the firmware version does the upgrade specifying "Initialize" from the controller before Ver.7.0.6.1, the IP address being set by the controller is cleared.
Please take notes of the IP address before the upgrade, and set it again after the upgrade. 
When "Upgrade" is specified, the IP address is preserved.

Fix the problem that when an arm orientation flag does not equal to command one after a Move command execution, position management failure of JTran,TMove,BMove,TGo,BGo occurred.
Fix the problem that when CP motion executed to a different arm orientation flag with 0 travel distance, position management failure occured.
Fix the problem that Z axis Weight compensation algorithm in Go command is wrong.(SCARA robot series)
(However, the RC700 controller is not supporting the robot that becomes an object now.)
Fix the problem that it enters the state that the controller accepts only the E-stop after the robot stops when the safeguard opening and the Till condition consist at the same time in the robot motion.
Fix the problem that the remote output (InsideBox function) is not correctly output when two or more BOX is set. 
Fix the problem that the message of "Point cannot be taught,One or more joints is out of range." is not displayed.("Simplified Chinese" and "Traditional Chinese")
Fix the problem that the character which are not required for point label of TP1 is displayed.


Ver.7.0.4.2 -> Ver.7.0.6.1

The function which can acquire a torque instruction value from RC+API is supported.
[RC700]H4 series robots are available.
Fix the problem that "Undefined vision calibration"(7512 errors) occured when vision command execute (VCal, VCalPoints).
Fix the problem that the controller hangs up when executing it specifying calibration ID and sequence ID for the parameter by Vision command (VDeleteCalibration,VDeleteSequence). 
Fix the problem that even if the point data is deleting executed with TP1, it is not reflected in the point editor of RC +.
Fix the problem that the controller hangs up when I/O to which the label is set is displayed by I/O monitor display (Auto/Teach) of TP1.
Fix the problem that it becomes "Unknown" display, if the I/O label is confirmed with TP2 when Shutdown,CmdRunning,and CmdError are set to remote I/O.
Fix the problem that the controller hangs up when displaying it by I/O monitor display (Teach) of TP2 when Extended I/O is set to remote I/O.
Fix the problem that "Improper acceleration reference was generated."(4242 errors) might be generated when the operation beginning position and the end position were in the singularity point neighborhood and did not pass the singularity point.
Fix the problem that when a robot's starting position of operation and end position of operation are completely downward singular point passage operation, a robot cannot pass a singular point, without changing to PTP operation.
Fix the problem that Quick pause does not function, after performing singular point evasion operation.
Fix the problem that 4242 errors("Improper acceleration reference was generated.") occurs when singular point evasion operation goes wrong in specific operation.(The point which will become an error working range outside if a target position changes a wrist flag)
Fix the problem that 4250 errors("Arm reached the limit of motion range during the operation.") occurs when singular point evasion operation goes wrong in specific operation.(The point which changes to J4Flag or J6Flag in a starting position and a target position)
Fix the problem that in the following case, an error may occur in Jump operation.
 - CP and Arch are used.
 - A setup of Arch is smaller than ten
Fix the problem the impulse force given to reduction gears at the time of an emergency stop may not be eased.
[RC700]Fix the problem the mistake in the prohibited area at the backside of the robot of H8 series robots. 
[RC90]Fix the problem that the function to adjust a SCARA robot's J3 axis acceleration (deceleration) with a posture automatically does not operate normally.
[RC90]Fix the problem that "Overload of the motor"(5054 errors) occurs when command "OLAccel" is set. (LS3 and LS6 series robots)


Ver.7.0.4.1 -> Ver.7.0.4.2

Nothing.


Ver.7.0.2.5 -> Ver.7.0.4.1

Command PerformMode is supported.
[RC700]H8 series robots are available.
Timing to apply the brake to alleviate the impact on the reduction gear unit at the E-stop has been changed.
Fix the problem that the accuracy priority mode of the conveyer tracking does not function.


Ver.7.0.2.4 -> Ver.7.0.2.5

The amount of the self-weight fall at Motor Off was reduced.


Ver.7.0.2.2 -> Ver.7.0.2.4

[RC700]Singularity avoid function in Continuous Jog is supported.
It changed to the specification that alleviated impulsive force given to the decelerator at the E-stop.
[RC700]The greatest value of AccelS was changed from 25000mm/(sec*sec) to 15000mm/(sec*sec).(C4 series robots C4-A901x)
Fix the problem when EnableSW or the continuance execution button is separated in the testmode when "Motor Off when Enable switch off in Teach Mode" is effective, TP1 freezes it. 
Fix the problem when the test mode ends, the motor is not turned off.
Fix the problem that the controller hangs up when the pallet information display is executed. 
Fix the problem that "Execution in Teach mode is prohibited" (1025 errors) is displayed on the TP screen momentarily when the Key switch is changed to "Auto" in TestMode.
Fix the problem that it does not change into the Auto mode if the Key switch is made "Auto" after the Key switch of TP1 is pulled out in the state of "Teach" and it connects it.
Fix the problem that the parameter of the operation instruction such as Go and Jump is not correctly processed.
Fix the problem that the pallet display of the simulator does not disappear even if PalletClr is done.
[RC700]Fix the problem when the Move trajectory through a very near singularity point, sometime over acceleration error 4242 occurs.
[RC700]Fix the problem that the tool rotational direction is wrong in some specified Move motion.
[RC700]The setting of the acceleration and the deceleration was corrected. (C4 series robots)
[RC700]Fix the problem that the robot bounds by a part of operation. (C4 series robots)
[RC700]Fix the problem that "Overload of the motor"(5054 errors) occurs when command "OLAccel" is set. (C4 series robots)


Ver.7.0.0.4 -> Ver.7.0.2.2

The firmware of this version supports only RC90 controller. 
RC700 controller is not supported. 

Support the RC90 controller.
The output folder name of the backup folder was changed.
 (Controller status is stored in a folder named "B" followed by the controller type, the controller serial number, and the date/time.)
Fix the problem that the Vision process error occured  error 2478 (Invalid error code). 
Fix the problem that the default setting of the fieldbus master of remote I/O was wrong.
Fix the problem that the default of remote I/O was not set. 
Fix the problem that Testmode cannot be executed at the safeguard open.
Fix the problem that the global variable cannot display at the controller status viewer.
Fix the problem that PC shut down when RC + is connected by controller AC power down. 
Fix the problem that the syntax help display for the Vision command is not correctly displayed. 
Fix the problem that the syntax help of the AccelS function was wrong. 
Fix the problem when SetNet is executed at the same time as Motor ON, it becomes 2365 errors(File failure. Failed to update the configuration file.).
Fix the problem that the Input statement can be executed by TestMode.
Fix the problem that the robot oscillates when the same gyro servo parameter as RC+5.0 is set when  connecting it with LS Series.
Fix the problem that it hangs up when Free All/Lock All is executed from TP1 with Scalar (4 axis) robot and addition axis (2 axis) registered.


Ver.7.0.0.3 -> Ver.7.0.0.4

Nothing.


Ver.7.0.0.2 -> Ver.7.0.0.3

Fixed the problem of VTeach command.
Fixed the problem that failed in the opening of the encryption file. 


